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   <div id="projectbrief">OrbSlam2 documentado y modificado</div>
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<div class="header">
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pro-attribs">Protected Attributes</a> &#124;
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<div class="title">ORB_SLAM2::KeyFrameDatabase Class Reference</div>  </div>
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<p>Lista invertida de KeyFrames, accesible por BoW.  
 <a href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="_key_frame_database_8h_source.html">KeyFrameDatabase.h</a>&gt;</code></p>
<div class="dynheader">
Collaboration diagram for ORB_SLAM2::KeyFrameDatabase:</div>
<div class="dyncontent">
<div class="center"><iframe scrolling="no" frameborder="0" src="class_o_r_b___s_l_a_m2_1_1_key_frame_database__coll__graph.svg" width="236" height="231"><p><b>This browser is not able to show SVG: try Firefox, Chrome, Safari, or Opera instead.</b></p></iframe></div>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a1b3a362116e3ecf2cd7e151be2ca3fcb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a1b3a362116e3ecf2cd7e151be2ca3fcb">add</a> (<a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a> *pKF)</td></tr>
<tr class="memdesc:a1b3a362116e3ecf2cd7e151be2ca3fcb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Agrega un <a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html" title="Cuadro clave, keyframe. ">KeyFrame</a> a la base de datos.  <a href="#a1b3a362116e3ecf2cd7e151be2ca3fcb">More...</a><br /></td></tr>
<tr class="separator:a1b3a362116e3ecf2cd7e151be2ca3fcb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3eccf99ba2e387d0273f919fd0574ea2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a3eccf99ba2e387d0273f919fd0574ea2">clear</a> ()</td></tr>
<tr class="memdesc:a3eccf99ba2e387d0273f919fd0574ea2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Libera su memoria, invocado desde <a class="el" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a899967ca49b1c3446854ecce3873323c" title="Reinicia el sistema. ">Tracking::Reset</a>.  <a href="#a3eccf99ba2e387d0273f919fd0574ea2">More...</a><br /></td></tr>
<tr class="separator:a3eccf99ba2e387d0273f919fd0574ea2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2d396aae02c4318ea8c7e7eff8059c69"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a> * &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a2d396aae02c4318ea8c7e7eff8059c69">DetectLoopCandidates</a> (<a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a> *pKF, float minScore)</td></tr>
<tr class="memdesc:a2d396aae02c4318ea8c7e7eff8059c69"><td class="mdescLeft">&#160;</td><td class="mdescRight">A partir de un <a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html" title="Cuadro clave, keyframe. ">KeyFrame</a> intenta detectar un bucle.  <a href="#a2d396aae02c4318ea8c7e7eff8059c69">More...</a><br /></td></tr>
<tr class="separator:a2d396aae02c4318ea8c7e7eff8059c69"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a008586e4d07ece0d948d0f1633447a2b"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a> * &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a008586e4d07ece0d948d0f1633447a2b">DetectRelocalizationCandidates</a> (<a class="el" href="class_o_r_b___s_l_a_m2_1_1_frame.html">Frame</a> *F)</td></tr>
<tr class="memdesc:a008586e4d07ece0d948d0f1633447a2b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Intenta relocalizar a partir de un cuadro.  <a href="#a008586e4d07ece0d948d0f1633447a2b">More...</a><br /></td></tr>
<tr class="separator:a008586e4d07ece0d948d0f1633447a2b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa5b56ae1d1cb827fb4602abd61d77a06"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#aa5b56ae1d1cb827fb4602abd61d77a06">erase</a> (<a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a> *pKF)</td></tr>
<tr class="memdesc:aa5b56ae1d1cb827fb4602abd61d77a06"><td class="mdescLeft">&#160;</td><td class="mdescRight">Borra un <a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html" title="Cuadro clave, keyframe. ">KeyFrame</a> de la base de datos.  <a href="#aa5b56ae1d1cb827fb4602abd61d77a06">More...</a><br /></td></tr>
<tr class="separator:aa5b56ae1d1cb827fb4602abd61d77a06"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a83495a11d1fb3cd98e82fa1e2efb6920"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a83495a11d1fb3cd98e82fa1e2efb6920">KeyFrameDatabase</a> (const <a class="el" href="namespace_o_r_b___s_l_a_m2.html#a2fafba714858cab1bb18d438e2e83c5d">ORBVocabulary</a> &amp;voc)</td></tr>
<tr class="memdesc:a83495a11d1fb3cd98e82fa1e2efb6920"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor que dimensiona mvInvertedFile del mismo tamaño del vocabulario.  <a href="#a83495a11d1fb3cd98e82fa1e2efb6920">More...</a><br /></td></tr>
<tr class="separator:a83495a11d1fb3cd98e82fa1e2efb6920"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:a31fc30f1474b8c97d81c96135e6912a1"><td class="memItemLeft" align="right" valign="top">std::mutex&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a31fc30f1474b8c97d81c96135e6912a1">mMutex</a></td></tr>
<tr class="separator:a31fc30f1474b8c97d81c96135e6912a1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad11a653313a5f0ef6f6fbc4880df0b7d"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="namespace_o_r_b___s_l_a_m2.html#a2fafba714858cab1bb18d438e2e83c5d">ORBVocabulary</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#ad11a653313a5f0ef6f6fbc4880df0b7d">mpVoc</a></td></tr>
<tr class="memdesc:ad11a653313a5f0ef6f6fbc4880df0b7d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vocabulario BoW.  <a href="#ad11a653313a5f0ef6f6fbc4880df0b7d">More...</a><br /></td></tr>
<tr class="separator:ad11a653313a5f0ef6f6fbc4880df0b7d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3b6d73823fcd1b96f3ba5a66be0b2227"><td class="memItemLeft" align="right" valign="top">std::vector&lt; list&lt; <a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a> * &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html#a3b6d73823fcd1b96f3ba5a66be0b2227">mvInvertedFile</a></td></tr>
<tr class="memdesc:a3b6d73823fcd1b96f3ba5a66be0b2227"><td class="mdescLeft">&#160;</td><td class="mdescRight">Cada elemento del vector corresponde a una palabra del vocabulario BoW.  <a href="#a3b6d73823fcd1b96f3ba5a66be0b2227">More...</a><br /></td></tr>
<tr class="separator:a3b6d73823fcd1b96f3ba5a66be0b2227"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Lista invertida de KeyFrames, accesible por BoW. </p>
<p>Para cada palabra del vocabulario, hay una lista de keyframes que la contienen. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a83495a11d1fb3cd98e82fa1e2efb6920"></a>
<div class="memitem">
<div class="memproto">
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          <td class="memname">ORB_SLAM2::KeyFrameDatabase::KeyFrameDatabase </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="namespace_o_r_b___s_l_a_m2.html#a2fafba714858cab1bb18d438e2e83c5d">ORBVocabulary</a> &amp;&#160;</td>
          <td class="paramname"><em>voc</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Constructor que dimensiona mvInvertedFile del mismo tamaño del vocabulario. </p>
<p>Se invoca sólo desde el constructor de <a class="el" href="class_o_r_b___s_l_a_m2_1_1_system.html" title="System se instancia una única vez en main, en la variable SLAM. ">System</a>. </p>

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="a1b3a362116e3ecf2cd7e151be2ca3fcb"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ORB_SLAM2::KeyFrameDatabase::add </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a> *&#160;</td>
          <td class="paramname"><em>pKF</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Agrega un <a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html" title="Cuadro clave, keyframe. ">KeyFrame</a> a la base de datos. </p>
<p>Lo agrega a las listas listas de keyframes de cada BoW que tenga registrado. </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">pKF</td><td><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html" title="Cuadro clave, keyframe. ">KeyFrame</a> </td></tr>
  </table>
  </dd>
</dl>

</div>
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<a id="a3eccf99ba2e387d0273f919fd0574ea2"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
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          <td class="memname">void ORB_SLAM2::KeyFrameDatabase::clear </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Libera su memoria, invocado desde <a class="el" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a899967ca49b1c3446854ecce3873323c" title="Reinicia el sistema. ">Tracking::Reset</a>. </p>

</div>
</div>
<a id="a2d396aae02c4318ea8c7e7eff8059c69"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">vector&lt; <a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a> * &gt; ORB_SLAM2::KeyFrameDatabase::DetectLoopCandidates </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a> *&#160;</td>
          <td class="paramname"><em>pKF</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>minScore</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>A partir de un <a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html" title="Cuadro clave, keyframe. ">KeyFrame</a> intenta detectar un bucle. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">pKF</td><td><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html" title="Cuadro clave, keyframe. ">KeyFrame</a> </td></tr>
    <tr><td class="paramname">minScore</td><td>Cantidad mínima de BoW coincidentes a encontrar para considerar que un <a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html" title="Cuadro clave, keyframe. ">KeyFrame</a> es candidato para cerrar el bucle. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Los KeyFrames candidatos a cerrar el bucle, que tendrán que pasar la prueba de la pose.</dd></dl>
<p>Los candidatos devueltos son los que tienen una cantidad mínima de BoWs coincidentes con los del <a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html" title="Cuadro clave, keyframe. ">KeyFrame</a> argumento.</p>
<p>Invocado sólo desde <a class="el" href="class_o_r_b___s_l_a_m2_1_1_loop_closing.html#aa8110ca79cebaf509e378d30e55f1381" title="Procesa los keyframes de la cola, buscando bucles. ">LoopClosing::DetectLoop</a>, una única vez por cada keyframe, siempre con keyframes nuevos o recientes. </p>

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<a id="a008586e4d07ece0d948d0f1633447a2b"></a>
<div class="memitem">
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      <table class="memname">
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          <td class="memname">vector&lt; <a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a> * &gt; ORB_SLAM2::KeyFrameDatabase::DetectRelocalizationCandidates </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_frame.html">Frame</a> *&#160;</td>
          <td class="paramname"><em>F</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Intenta relocalizar a partir de un cuadro. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">F</td><td>Cuadro actual cuya pose se pretende localizar. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Vector de KeyFrames candidatos a relocalización, en los que se encontraron suficiente coincidencias BoW. Estos candidatos luego deben pasar una prueba de pose. </dd></dl>

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<a id="aa5b56ae1d1cb827fb4602abd61d77a06"></a>
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          <td class="memname">void ORB_SLAM2::KeyFrameDatabase::erase </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a> *&#160;</td>
          <td class="paramname"><em>pKF</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Borra un <a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html" title="Cuadro clave, keyframe. ">KeyFrame</a> de la base de datos. </p>
<p>Lo borra de cada lista de keyframes de cada BoW que tenga registrado. </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">pKF</td><td><a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html" title="Cuadro clave, keyframe. ">KeyFrame</a> </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="groupheader">Member Data Documentation</h2>
<a id="a31fc30f1474b8c97d81c96135e6912a1"></a>
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          <td class="memname">std::mutex ORB_SLAM2::KeyFrameDatabase::mMutex</td>
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      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
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</div><div class="memdoc">

</div>
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<a id="ad11a653313a5f0ef6f6fbc4880df0b7d"></a>
<div class="memitem">
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  <td class="mlabels-left">
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          <td class="memname">const <a class="el" href="namespace_o_r_b___s_l_a_m2.html#a2fafba714858cab1bb18d438e2e83c5d">ORBVocabulary</a>* ORB_SLAM2::KeyFrameDatabase::mpVoc</td>
        </tr>
      </table>
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<p>Vocabulario BoW. </p>

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          <td class="memname">std::vector&lt;list&lt;<a class="el" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>*&gt; &gt; ORB_SLAM2::KeyFrameDatabase::mvInvertedFile</td>
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<p>Cada elemento del vector corresponde a una palabra del vocabulario BoW. </p>
<p>Cada elemento consiste de una lista de keyframes que contienen esa palabra BoW. De este modo, a partir de la palabra Bow (la palabra es el índice en este vector), se obtiene una lista de KeyFrames que observan puntos singulares cuyos descriptores corresponden a ella. Se utiliza para cierre de bucles y relocalización. </p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/home/alejandro/Desarrollo eclipse/os1/include/<a class="el" href="_key_frame_database_8h_source.html">KeyFrameDatabase.h</a></li>
<li>/home/alejandro/Desarrollo eclipse/os1/src/<a class="el" href="_key_frame_database_8cc.html">KeyFrameDatabase.cc</a></li>
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